公开(公告)号：KR100654759B1

公开(公告)日：2006-12-08

申请号：KR1020050075385

申请日：2005-08-17

Applicant: 한국과학기술원

Inventor： 이민철 ,  안철기 ,  이현정 ,  심재환 ,  최규천

IPC: B25J5/00

Abstract: A biped walking robot having load reduction and stability of a motor using a functional structure of toes is provided to stably walk like more human through the toe operation and reduce the load of the articulation motor. A toe structure for a biped walking robot comprises a planar plate-shaped foot sole part(6); a planar plate-shaped toe part(7); a first support(1) fixed at the edge center of the toe direction of the foot sole part and formed with a connection shaft(8) to both side directions; two second supports(4) fixed at both sides of the first support of the foot sole part; two third supports(5) fixed around the edge of both side directions; two spring parts(2) whose both edges are formed with rod-shaped connection ends; and two connection devices(3) where the edges of two connection pieces are connected by the connection shaft. The both connection ends of the spring are connected with the connection shaft of the first support and the third support. The connection device is fixed with the second and third supports, and the toe part is formed with an articulation for shaft-rotation to the direction of the foot sole part.

Abstract translation: 提供一种使用脚趾的功能结构来减少负载并稳定电机的双足步行机器人，以通过脚趾操作像更多的人一样稳定地行走，并且减少关节马达的负载。 一种用于双足步行机器人的脚趾结构，包括平板状的脚底部分（6） 一个平板状的脚趾部分（7）; 固定在脚底部的脚趾方向的边缘中心且在两侧方向上形成有连结轴（8）的第一支承体（1） 两个第二支撑件（4），所述第二支撑件固定在所述脚底部件的所述第一支撑件的两侧; 围绕两侧方向的边缘固定的两个第三支撑件（5） 两个弹簧部分（2），其两个边缘形成有杆状连接端; 和两个连接装置（3），其中两个连接件的边缘通过连接轴连接。 弹簧的两个连接端与第一支架和第三支架的连接轴连接。 连接装置与第二和第三支撑件固定，并且脚趾部分形成有用于轴向旋转到脚底部分的方向的铰接部。